On the dynamic modelling and simulation of rigidflexible manipulator robot using several inputs
Document typeConference report
Rights accessOpen Access
The purpose of this paper is to develop a dynamic model of a rigid-flexible manipulator robot with a load on its endpoint using Euler-Lagrange formulation. In order to test the performance of the studied system, several mathematical functions are used as motion profile. It choice is very important because it affects the robot’s performance. Different factors intervene in this choice. However, the most important is the torque’s continuity and the movement’s smoothness. Numerical simulations show the robustness of the dynamic model of the studied system for several motions profiles.
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CitationZribi, S., Tlijani, H., Knani, J., Puig, V. On the dynamic modelling and simulation of rigidflexible manipulator robot using several inputs. A: International Conference on Control, Decision and Information Technologies. "4th-2017 International Conference on Control, Decision and Information Technologies". Barcelona: 2017, p. 1-6.